EP3396323A4 - Dispositif d'estimation de distance, procédé d'estimation de distance, et programme - Google Patents

Dispositif d'estimation de distance, procédé d'estimation de distance, et programme Download PDF

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Publication number
EP3396323A4
EP3396323A4 EP15911412.3A EP15911412A EP3396323A4 EP 3396323 A4 EP3396323 A4 EP 3396323A4 EP 15911412 A EP15911412 A EP 15911412A EP 3396323 A4 EP3396323 A4 EP 3396323A4
Authority
EP
European Patent Office
Prior art keywords
distance estimation
program
estimation method
estimation device
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15911412.3A
Other languages
German (de)
English (en)
Other versions
EP3396323A1 (fr
EP3396323B1 (fr
Inventor
Ryoko NIIHARA
Masahiro Kato
Hitoshi Kaneko
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Corp
Original Assignee
Pioneer Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corp filed Critical Pioneer Corp
Publication of EP3396323A1 publication Critical patent/EP3396323A1/fr
Publication of EP3396323A4 publication Critical patent/EP3396323A4/fr
Application granted granted Critical
Publication of EP3396323B1 publication Critical patent/EP3396323B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/571—Depth or shape recovery from multiple images from focus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP15911412.3A 2015-12-25 2015-12-25 Dispositif d'estimation de distance, procédé d'estimation de distance, et programme Active EP3396323B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/086341 WO2017109978A1 (fr) 2015-12-25 2015-12-25 Dispositif d'estimation de distance, procédé d'estimation de distance, et programme

Publications (3)

Publication Number Publication Date
EP3396323A1 EP3396323A1 (fr) 2018-10-31
EP3396323A4 true EP3396323A4 (fr) 2019-09-25
EP3396323B1 EP3396323B1 (fr) 2021-03-03

Family

ID=59089804

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15911412.3A Active EP3396323B1 (fr) 2015-12-25 2015-12-25 Dispositif d'estimation de distance, procédé d'estimation de distance, et programme

Country Status (4)

Country Link
US (1) US11061129B2 (fr)
EP (1) EP3396323B1 (fr)
JP (1) JPWO2017109978A1 (fr)
WO (1) WO2017109978A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108082083B (zh) * 2018-01-16 2019-11-01 京东方科技集团股份有限公司 一种被遮挡对象的显示方法和显示系统以及车载防撞系统
GB2585447B8 (en) * 2019-04-19 2023-07-26 Thermoteknix Systems Ltd Imaging systems including real-time target-acquisition and triangulation features and human-machine interfaces therefor
US11455742B2 (en) 2019-04-19 2022-09-27 Thermoteknix Systems Ltd. Imaging systems including real-time target-acquisition and triangulation features and human-machine interfaces therefor
DE102022106744B4 (de) * 2022-03-23 2023-11-30 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Validierung einer Entfernungsmessung

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8027761B1 (en) * 2007-09-04 2011-09-27 Nelson Russell G Local positioning system for automated lawn mowers
US20140046587A1 (en) * 2011-04-21 2014-02-13 Konecranes Plc Techniques for positioning a vehicle
US20150081211A1 (en) * 2013-09-17 2015-03-19 GM Global Technologies Operations LLC Sensor-aided vehicle positioning system

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008008783A (ja) 2006-06-29 2008-01-17 Toyota Motor Corp 車輪速パルス補正装置
JP2008051573A (ja) * 2006-08-23 2008-03-06 Matsushita Electric Ind Co Ltd ナビゲーション装置及び、その方法、並びにそのプログラム
NL1032520C2 (nl) * 2006-09-15 2008-03-18 Thales Nederland Bv Werkwijze en systeem voor het volgen van een object.
JP5145735B2 (ja) 2007-03-02 2013-02-20 株式会社豊田中央研究所 測位装置及び測位システム
WO2011071548A1 (fr) * 2009-12-11 2011-06-16 Jean-Louis Fiorucci Fourniture de services urbains à l'aide de dispositifs mobiles et d'un réseau de capteurs
JP2013104861A (ja) * 2011-11-17 2013-05-30 Hitachi Automotive Systems Ltd 車載カメラ及び車載カメラシステム
US9664519B2 (en) * 2013-07-18 2017-05-30 Wen-Sung Lee Positioning system and method thereof for an object at home
US20160377709A1 (en) * 2014-08-27 2016-12-29 Aviacomm Inc. Determining an object distance using radio frequency signals
JP2017134610A (ja) * 2016-01-27 2017-08-03 富士通株式会社 映像生成装置、映像表示方法、及びプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8027761B1 (en) * 2007-09-04 2011-09-27 Nelson Russell G Local positioning system for automated lawn mowers
US20140046587A1 (en) * 2011-04-21 2014-02-13 Konecranes Plc Techniques for positioning a vehicle
US20150081211A1 (en) * 2013-09-17 2015-03-19 GM Global Technologies Operations LLC Sensor-aided vehicle positioning system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"International Journal of Mechanics and Control, Vol", vol. 10, 1 December 2009, LEVROTTO & BELLA, Torino, Italy, ISSN: 1590-8844, article LADISLAV : JURISICA ET AL: "Triangulation of Mobile Robot Position with Detected Inherent Environment Landmarks", pages: 15 - 25, XP055598060 *
See also references of WO2017109978A1 *

Also Published As

Publication number Publication date
EP3396323A1 (fr) 2018-10-31
WO2017109978A1 (fr) 2017-06-29
JPWO2017109978A1 (ja) 2018-10-18
EP3396323B1 (fr) 2021-03-03
US20180372858A1 (en) 2018-12-27
US11061129B2 (en) 2021-07-13

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